CN102519636A - Device and method for measuring force of crawler-type mechanism - Google Patents
Device and method for measuring force of crawler-type mechanism Download PDFInfo
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- CN102519636A CN102519636A CN2011103938689A CN201110393868A CN102519636A CN 102519636 A CN102519636 A CN 102519636A CN 2011103938689 A CN2011103938689 A CN 2011103938689A CN 201110393868 A CN201110393868 A CN 201110393868A CN 102519636 A CN102519636 A CN 102519636A
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Abstract
The invention discloses a device and a method for measuring force of a crawler-type mechanism. The device comprises a plurality of rectangularly-arranged bearing test modules, direct-current bridges matched with the quantity of the bearing test modules, a data collecting system and an upper computer, wherein the bearing test modules are matched with thrust wheels of the crawler-type mechanism in dimension, quantity and state, and strain gauges of the direct-current bridges are respectively and correspondingly arranged on the lateral walls of the bearing test modules and are used for collecting bearing load of corresponding thrust wheels. The data collecting system is used for performing amplification, analog to digital (A/D) conversion and filter process on the bearing load collected by the strain gauges and transmitting the processed bearing load to the upper computer which is used for correspondingly calculating force situations and gravities at a static state of the thrust wheels of the crawler-type mechanism according to the bearing load collected by the bearing test modules respectively in the modes of thrust wheel testing arrangement and gravity testing arrangement. Therefore, accurate measurement of weight and gravity of the whole crawler-type mechanism and accurate analysis on the bearing load of the thrust wheels of the crawler-type mechanism are achieved with low cost.
Description
Technical field
The present invention relates to the center of gravity measurement technology of a kind of crawler type mechanism, relate in particular to the stress measuring device and the method for a kind of crawler type mechanism.
Background technology
At present, heavy engineering machineries such as excavator, rotary drilling rig and crane all adopt caterpillar chassis, and this crawler type mechanism stressing conditions is complicated, and weight is difficult to measure, and center of gravity more is difficult to calculate.General traditionally employing suspension is measured with the ground reaction force method; Promptly measure earlier machine and set level the ground reaction force when tilting, calculate the horizontal range of each distance of centre of gravity earth point again, and on the marking-off plate that is fixed on the machine, mark perpendicular line with front and back; The joining of perpendicular line is represented center of gravity; Center of gravity position accurately should be got the intersection point of triangle central authorities, yet this testing scheme can not be measured accurately.In addition, also have at present and adopt accurately that weighbridge carries out the scheme that center of gravity is measured with crane to crawler type mechanism, still, cost and great amount of manpower that these needs are huge.In addition, no matter adopt above-mentioned which kind of mode, it can only be measured to weight and center of gravity of crawler type mechanism complete machine, and the stressing conditions of each thrust wheel of energy measurement not.
Summary of the invention
The object of the present invention is to provide the stress measuring device and the method for a kind of crawler type mechanism,, and can realize the stressing conditions of its each thrust wheel is accurately analyzed with the accurate measurement of implemented with low cost to crawler type mechanism complete machine weight and center of gravity.
For achieving the above object, one aspect of the present invention provides the stress measuring device of a kind of crawler type mechanism, comprising:
The load test module of several rectangular arranged, size, quantity and the state matches of itself and each thrust wheel of crawler type mechanism;
With the direct current bridge of said load test module number coupling, the foil gauge of each said direct current bridge is corresponding respectively to be arranged on the sidewall of a said load test module, and wherein, said foil gauge is used to gather the bearing load of corresponding thrust wheel;
Data acquisition and analysis system, be used for the bearing load that said foil gauge collects amplify, A/D conversion and Filtering Processing, be transferred to host computer then;
Host computer is used for the bearing load under thrust wheel test arrangement and center of gravity test arrangement mode, gathered respectively according to said load test module, the center of gravity under the stressing conditions that correspondence calculates each thrust wheel of said crawler type mechanism and its stationary state.
The stress measuring device of crawler type of the present invention mechanism, said host computer calculate that crawler type mechanism center of gravity under static state is concrete to be realized as follows:
4 said load test modules are gone out the weight G of said crawler type mechanism in the bearing load addition calculation of arranging collection down according to the center of gravity test mode;
According to formula x
0=x.2-x
1Calculate the horizontal ordinate x of center of gravity of said crawler type mechanism
0, wherein, x is the distance between front side on the thrust wheel of said crawler type mechanism, the rear side load test module, x satisfies x=x
1+ x
2, x
1Be the arm of force of said rear side load test module, x
2Be the arm of force of said front side load test module, x
1And x
2Satisfy x
1* F
1a=x
2* F
2a, wherein, F
1aBe the bearing load sum that said rear side load test module collects, F
2aThe bearing load sum that collects for said front side load test module;
According to formula y
0=y/2-y
1Calculate the horizontal horizontal ordinate y of center of gravity of said crawler type mechanism
0, wherein, y is the thrust wheel upper left side of said crawler type mechanism, the distance between the load test module of right side, y satisfies y=y
1+ y
2, y
1Be the arm of force of said left side load test module, y
2Be the arm of force of said right side load test module, y
1And y
2Satisfy y
1* F
1b=y
2* F
2b, wherein, F
1bBe the bearing load sum that said left side load test module collects, F
2bThe bearing load sum that collects for said right side load test module;
With formula F
1c* P
1=G * L * cos θ substitution formula
Calculate said crawler type mechanism when level, the strong point is to the line of the center of gravity of said crawler type mechanism and the angle theta of surface level, promptly
Wherein, F
1cBe the bearing load sum that said crawler type mechanism two first corresponding load test modules when the level collect, F
2cFor said crawler type mechanism is tilting
The bearing load sum that two second corresponding load test modules collect during angle, P
1Be the horizontal range of said crawler type mechanism two the said first load test module to said strong points when the level, P
2For said crawler type mechanism is tilting
The horizontal range of two said second load test modules to said strong points during angle, G is the weight of said crawler type mechanism, L is the distance of center of gravity to the said strong point of said crawler type mechanism;
Calculate the center of gravity vertical coordinate h of said crawler type mechanism according to formula h=L * sin θ.
The stress measuring device of crawler type of the present invention mechanism, the span of said
is 10 °～15 °.
The stress measuring device of crawler type of the present invention mechanism, the bearing load of each thrust wheel of said crawler type mechanism comprise that getting on the bus of said crawler type mechanism is in the bearing load under static, revolution, pressurization, lifting or the handstand mast state respectively.
The stress measuring device of crawler type of the present invention mechanism, said host computer show it in real time and preserve after the center of gravity under the stressing conditions that calculates each thrust wheel of crawler type mechanism respectively and its stationary state.
Again on the one hand, the present invention also provide a kind of above-mentioned crawler type mechanism stress measuring device receive force measuring method, may further comprise the steps:
Gather the bearing load of the corresponding thrust wheel of crawler type mechanism;
With said bearing load amplify, A/D conversion and Filtering Processing;
Center of gravity under the stressing conditions that calculates each thrust wheel of said crawler type mechanism according to the bearing load after handling respectively and its stationary state.
The force measuring method that receives of the present invention, the said crawler type mechanism center of gravity under static state that calculates specifically comprises the steps:
4 said load test modules are gone out the weight G of said crawler type mechanism in the bearing load addition calculation of arranging collection down according to the center of gravity test mode;
According to formula x
0=x/2-x
1Calculate the horizontal ordinate x of center of gravity of said crawler type mechanism
0, wherein, x is the distance between front side on the thrust wheel of said crawler type mechanism, the rear side load test module, x satisfies x=x
1+ x
2, x
1Be the arm of force of said rear side load test module, x
2Be the arm of force of said front side load test module, x
1And x
2Satisfy x
1* F
1a=x
2* F
2a, wherein, F
1aBe the bearing load sum that said rear side load test module collects, F
2aThe bearing load sum that collects for said front side load test module;
According to formula y
0=y/2-y
1Calculate the horizontal horizontal ordinate y of center of gravity of said crawler type mechanism
0, wherein, y is the thrust wheel upper left side of said crawler type mechanism, the distance between the load test module of right side, y satisfies y=y
1+ y
2, y
1Be the arm of force of said left side load test module, y
2Be the arm of force of said right side load test module, y
1And y
2Satisfy y
1* F
1b=y
2* F
2b, wherein, F
1bBe the bearing load sum that said left side load test module collects, F
2bThe bearing load sum that collects for said right side load test module;
With formula F
1c* P
1=G * L * cos θ substitution formula
Calculate said crawler type mechanism when level, the strong point is to the line of the center of gravity of said crawler type mechanism and the angle theta of surface level, promptly
Wherein, F
1cBe the bearing load sum that said crawler type mechanism two first corresponding load test modules when the level collect, F
2cFor said crawler type mechanism is tilting
The bearing load sum that two second corresponding load test modules collect during angle, P
1Be the horizontal range of said crawler type mechanism two the said first load test module to said strong points when the level, P
2For said crawler type mechanism is tilting
The horizontal range of two said second load test modules to said strong points during angle, G is the weight of said crawler type mechanism, L is the distance of center of gravity to the said strong point of said crawler type mechanism;
Calculate the center of gravity vertical coordinate h of said crawler type mechanism according to formula h=L * sin θ.
The force measuring method that receives of the present invention, the span of said
is 10 °～15 °.
The force measuring method that receives of the present invention, the bearing load of each thrust wheel of said crawler type mechanism comprise that getting on the bus of said crawler type mechanism is in the bearing load under static, revolution, pressurization, lifting or the handstand mast state respectively.
The force measuring method that receives of the present invention, said host computer also comprise the step that shows in real time and preserve after calculating the stressing conditions and the center of gravity under its stationary state of each thrust wheel of crawler type mechanism respectively.
The stress measuring device of crawler type of the present invention mechanism comprises the load test module of several rectangular arranged, size, quantity and the state matches of itself and each thrust wheel of crawler type mechanism; With the direct current bridge of load test module number coupling, the foil gauge of each direct current bridge is corresponding respectively to be arranged on the sidewall of a load test module, and wherein, foil gauge is used to gather the bearing load of corresponding thrust wheel; Data acquisition and analysis system, be used for the bearing load that foil gauge collects amplify, A/D conversion and Filtering Processing, be transferred to host computer then; Host computer is used for the bearing load under thrust wheel test arrangement and center of gravity test arrangement mode, gathered respectively according to the load test module, the center of gravity under the stressing conditions that correspondence calculates each thrust wheel of crawler type mechanism and its stationary state; Thereby implemented with low cost to the accurate measurement of crawler type mechanism complete machine weight and center of gravity, and realized the bearing load of its each thrust wheel is accurately analyzed.
Description of drawings
Fig. 1 is the circuit theory diagrams of stress measuring device of the crawler type mechanism of one embodiment of the invention;
Fig. 2 is carrying out the structural representation of the horizontal ordinate of center of gravity when measuring for the crawler type mechanism of one embodiment of the invention;
Fig. 3 is carrying out the structural representation of the horizontal horizontal ordinate of center of gravity when measuring for the crawler type mechanism of one embodiment of the invention;
Fig. 4 is the structural representation of crawler type mechanism when carrying out center of gravity vertical coordinate mensuration of one embodiment of the invention.
Embodiment
Be described in detail below in conjunction with the accompanying drawing specific embodiments of the invention:
With reference to shown in Figure 1; The stress measuring device of the crawler type mechanism of present embodiment; The load test module (the load test module is according to the center of gravity test arrangement among the figure) that comprises several rectangular arranged, size, quantity and the state matches of load test module and each thrust wheel of crawler type mechanism; With the direct current bridge of load test module number coupling, the foil gauge of each direct current bridge is corresponding respectively to be arranged on the sidewall of a load test module, and wherein, foil gauge is used to gather the bearing load of corresponding thrust wheel; Existing data acquisition and analysis system with the bearing load that foil gauge collects amplify, A/D conversion and Filtering Processing, be transferred to host computer then; The bearing load that host computer is then gathered under thrust wheel test arrangement and center of gravity test arrangement mode respectively according to the load test module, correspondence calculate the stressing conditions of each thrust wheel of crawler type mechanism and the center of gravity under its stationary state.
The stressed measuring process of the stress measuring device of the crawler type mechanism of present embodiment comprises the steps:
Step 1, on a block plate according to some rectangular arranged load tests of the fixed amount module of size, state and its thrust wheel of crawler type mechanism; Crawler type mechanism is run on the test board that is made up of load test module and steel plate; Crawler type mechanism is propped up by the load test module, and wherein, each thrust wheel is supported by a load test module; Get on the bus in crawler type mechanism and to be in respectively under static, revolution, pressurization, lifting or the handstand mast state; Elastic deformation is taken place by the compressing of crawler type mechanism in the load test module that is provided with according to thrust wheel test arrangement mode, and its sidewall also produces corresponding deformation, thereby makes the foil gauge that is positioned at the direct current bridge on this sidewall that corresponding deformation take place; And through corresponding direct current bridge output bearing load (voltage signal), and send it to data acquisition and analysis system.
Step 2, data acquisition and analysis system to these bearing loads amplify, reasons such as A/D conversion and filtering, and the bearing load after will handling sends to host computer through 1394 interfaces.
After step 3, host computer receive the bearing load of data acquisition and analysis system transmission through its 1394 interface, calculate the stressed distribution situation of each thrust wheel of crawler type mechanism according to this bearing load.
Step 4, the bearing load addition calculation that 4 load test modules are gathered under arranging according to the center of gravity test mode go out the weight G of crawler type mechanism; To shown in Figure 4, crawler type mechanism center of gravity under static state is then according to realizing step by step as follows in conjunction with Fig. 2:
Step 401 is according to formula x
0=x/2-x
1Calculate the horizontal ordinate x of center of gravity of crawler type mechanism
0(unit be millimeter), wherein, x (unit be a millimeter) is the distance between rear side load test module 101 and the front side load test module 102 on the thrust wheel of crawler type mechanism, x satisfies x=x
1+ x
2, x
1(unit be millimeter) is the arm of force of rear side load test module 101, x
2(unit be millimeter) is the arm of force of front side load test module 102, x
1And x
2Satisfy x
1* F1a=x
2* F
2a, wherein, F
1aThe bearing load sum that (unit is thousand Ns) collects for rear side load test module 101, F
2aThe bearing load sum that (unit is thousand Ns) collects for front side load test module 102.
Step 402 is according to formula y
0=y/2-y
1Calculate the horizontal horizontal ordinate y of center of gravity of crawler type mechanism
0(unit is a millimeter), wherein, y (unit is a millimeter) is the distance between the thrust wheel upper left side load test module 201 of crawler type mechanism and the right side load test module 202, y satisfies y=y
1+ y
2, y
1(unit is a millimeter) is the arm of force of left side load test module 201, y
2(unit is a millimeter) is the arm of force of right side load test module 202, y
1And y
2Satisfy y
1* F
1b=y
2* F
2b, wherein, F
1bThe bearing load sum that (unit is thousand Ns) collects for left side load test module 201, F
2bThe bearing load sum that (unit is thousand Ns) collects for right side load test module 202.
Step 403 is with formula F
1c* P
1=G * L * cos θ substitution formula
Calculate crawler type mechanism when level, the angle theta of the line and the surface level of the strong point 303 to the center of gravity of crawler type mechanism, promptly
Wherein, F
1c(unit is thousand Ns) is the crawler type mechanism bearing load sum that two first corresponding load test modules 302 collect when level, F
2c(unit is thousand Ns) tilting for crawler type mechanism
The bearing load sum that two second corresponding load test modules 301 collect during angle,
It is more suitable to be set between 10 °～15 ° arbitrary value, P
1(unit is a millimeter) is the horizontal range of crawler type mechanism two first load test module 302 to strong points 303 when level, P
2(unit is a millimeter) tilting for crawler type mechanism
The horizontal range of two second load test module 301 to the strong points 303 during angle, G (unit is thousand Ns) is the weight of crawler type mechanism, L (unit is a millimeter) is the distance of center of gravity to the strong point 303 of crawler type mechanism.
Step 404 calculates the center of gravity vertical coordinate h (unit for millimeter) of crawler type mechanism according to formula h=L * sin θ, and h is the height of its thrust wheel bottom surface of centroidal distance of crawler type mechanism just.
Step 5, host computer show the data that obtain in real time after the stressing conditions that calculates each thrust wheel of crawler type mechanism respectively, weight and center of gravity and preserve.
Above embodiment describes preferred implementation of the present invention; Be not that scope of the present invention is limited; Design under the prerequisite of spirit not breaking away from the present invention; Various distortion and improvement that the common engineering technical personnel in this area make technical scheme of the present invention all should fall in the definite protection domain of claims of the present invention.
Claims (10)
1. the stress measuring device of a crawler type mechanism is characterized in that, comprising:
The load test module of several rectangular arranged, size, quantity and the state matches of each thrust wheel of itself and crawler type mechanism;
With the direct current bridge of said load test module number coupling, the foil gauge of each said direct current bridge is corresponding respectively to be arranged on the sidewall of a said load test module, and wherein, said foil gauge is used to gather the bearing load of corresponding thrust wheel;
Data acquisition and analysis system, be used for the bearing load that said foil gauge collects amplify, A/D conversion and Filtering Processing, be transferred to host computer then;
Host computer is used for the bearing load under thrust wheel test arrangement mode and center of gravity test arrangement mode, gathered respectively according to said load test module, the center of gravity under the stressing conditions that correspondence calculates each thrust wheel of said crawler type mechanism and its stationary state.
2. the stress measuring device of crawler type as claimed in claim 1 mechanism; It is characterized in that the bearing load of each thrust wheel of said crawler type mechanism comprises that getting on the bus of said crawler type mechanism is in the bearing load under static, revolution, pressurization, lifting or the handstand mast state respectively.
3. the stress measuring device of crawler type as claimed in claim 1 mechanism is characterized in that, said host computer calculates concrete the realization as follows of center of gravity under the crawler type mechanism stationary state:
4 said load test modules are gone out the weight G of said crawler type mechanism in the bearing load addition calculation of arranging collection down according to the center of gravity test mode;
According to formula x
0=x/2-x
1Calculate the horizontal ordinate x of center of gravity of said crawler type mechanism
0, wherein, x is the distance between front side on the thrust wheel of said crawler type mechanism, the rear side load test module, x satisfies x=x
1+ x
2, x
1Be the arm of force of said rear side load test module, x
2Be the arm of force of said front side load test module, x
1And x
2Satisfy x
1* F
1a=x
2* F
2a, wherein, F
1aBe the bearing load sum that said rear side load test module collects, F
2aThe bearing load sum that collects for said front side load test module;
According to formula y
0=y/2-y
1Calculate the horizontal horizontal ordinate y of center of gravity of said crawler type mechanism
0, wherein, y is the thrust wheel upper left side of said crawler type mechanism, the distance between the load test module of right side, y satisfies y=y
1+ y
2, y
1Be the arm of force of said left side load test module, y
2Be the arm of force of said right side load test module, y
1And y
2Satisfy y
1* F
1b=y
2* F
2b, wherein, F
1bBe the bearing load sum that said left side load test module collects, F
2bThe bearing load sum that collects for said right side load test module;
With formula F
1c* P
1=G * L * cos θ substitution formula
Calculate said crawler type mechanism when level, the strong point is to the line of the center of gravity of said crawler type mechanism and the angle theta of surface level, promptly
Wherein, F
1cBe the bearing load sum that said crawler type mechanism two first corresponding load test modules when the level collect, F
2cFor said crawler type mechanism is tilting
The bearing load sum that two second corresponding load test modules collect during angle, P
1Be the horizontal range of said crawler type mechanism two the said first load test module to said strong points when the level, P
2For said crawler type mechanism is tilting
The horizontal range of two said second load test modules to said strong points during angle, G is the weight of said crawler type mechanism, L is the distance of center of gravity to the said strong point of said crawler type mechanism;
Calculate the center of gravity vertical coordinate h of said crawler type mechanism according to formula h=L * sin θ.
4. the stress measuring device of crawler type as claimed in claim 3 mechanism; It is characterized in that the span of said
is 10 °～15 °.
5. the stress measuring device of crawler type as claimed in claim 1 mechanism is characterized in that, after the center of gravity under the stressing conditions that said host computer calculates each thrust wheel of crawler type mechanism respectively and its stationary state, it is shown in real time and preserves.
The stress measuring device of power 1 a said crawler type mechanism receive force measuring method, it is characterized in that, may further comprise the steps:
Gather the bearing load of the corresponding thrust wheel of crawler type mechanism;
With said bearing load amplify, A/D conversion and Filtering Processing;
Center of gravity under the stressing conditions that calculates each thrust wheel of said crawler type mechanism according to the bearing load after handling respectively and its stationary state.
7. the force measuring method that receives as claimed in claim 6 is characterized in that, the said crawler type mechanism center of gravity under static state that calculates specifically comprises the steps:
4 said load test modules are gone out the weight G of said crawler type mechanism in the bearing load addition calculation of arranging collection down according to the center of gravity test mode;
According to formula x
0=x/2-x
1Calculate the horizontal ordinate x of center of gravity of said crawler type mechanism
0, wherein, x is the distance between front side on the thrust wheel of said crawler type mechanism, the rear side load test module, x satisfies x=x
1+ x
2, x
1Be the arm of force of said rear side load test module, x
2Be the arm of force of said front side load test module, x
1And x
2Satisfy x
1* F
1a=x
2* F
2a, wherein, F
1aBe the bearing load sum that said rear side load test module collects, F
2aThe bearing load sum that collects for said front side load test module;
According to formula y
0=y/2-y
1Calculate the horizontal horizontal ordinate y of center of gravity of said crawler type mechanism
0, wherein, y is the thrust wheel upper left side of said crawler type mechanism, the distance between the load test module of right side, y satisfies y=y
1+ y
2, y
1Be the arm of force of said left side load test module, y
2Be the arm of force of said right side load test module, y
1And y
2Satisfy y
1* F
1b=y
2* F
2b, wherein, F
1bBe the bearing load sum that said left side load test module collects, F
2bThe bearing load sum that collects for said right side load test module;
With formula F
1c* P
1=G * L * cos θ substitution formula
Calculate said crawler type mechanism when level, the strong point is to the line of the center of gravity of said crawler type mechanism and the angle theta of surface level, promptly
Wherein, F
1cBe the bearing load sum that said crawler type mechanism two first corresponding load test modules when the level collect, F
2cFor said crawler type mechanism is tilting
The bearing load sum that two second corresponding load test modules collect during angle, P
1Be the horizontal range of said crawler type mechanism two the said first load test module to said strong points when the level, P
2For said crawler type mechanism is tilting
The horizontal range of two said second load test modules to said strong points during angle, G is the weight of said crawler type mechanism, L is the distance of center of gravity to the said strong point of said crawler type mechanism;
Calculate the center of gravity vertical coordinate h of said crawler type mechanism according to formula h=L * sin θ.
8. the force measuring method that receives as claimed in claim 7; It is characterized in that the span of said
is 10 °～15 °.
9. the force measuring method that receives as claimed in claim 6 is characterized in that, the bearing load of each thrust wheel of said crawler type mechanism comprises that getting on the bus of said crawler type mechanism is in the bearing load under static, revolution, pressurization, lifting or the handstand mast state respectively.
10. the force measuring method that receives as claimed in claim 6 is characterized in that, said host computer also comprises the step that shows in real time and preserve after calculating the stressing conditions and the center of gravity under its stationary state of each thrust wheel of crawler type mechanism respectively.
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| CN103569871B (en) * | 2012-08-06 | 2015-05-13 | 山推工程机械股份有限公司 | Method and device for limiting torque of hoisting equipment and hoisting equipment |
| CN103234701A (en) * | 2013-04-09 | 2013-08-07 | 上海三一重机有限公司 | Stability monitoring system and excavator |
| WO2014166331A1 (en) * | 2013-04-09 | 2014-10-16 | 三一重机有限公司 | Stability monitoring system and excavator |
| CN103234701B (en) * | 2013-04-09 | 2015-06-17 | 上海三一重机有限公司 | Stability monitoring system and excavator |
| CN113280976A (en) * | 2021-05-31 | 2021-08-20 | 徐州徐工矿业机械有限公司 | Gravity center testing device and method for crawler excavator |
| CN114544202A (en) * | 2022-02-25 | 2022-05-27 | 索特传动设备有限公司 | Force testing device and method for thrust wheel |
| CN114544202B (en) * | 2022-02-25 | 2023-07-25 | 索特传动设备有限公司 | Force testing device and method for thrust wheel |
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Application publication date: 20120627 |